odometry::FootContact Class Reference

#include <ContactOdometry.hpp>

Inheritance diagram for odometry::FootContact:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	FootContact (const Configuration &config)
virtual	~FootContact ()
void	update (const odometry::BodyContactState &state, const Eigen::Quaterniond &orientation)
base::Pose	getPoseDelta ()
Eigen::Matrix3d	getPositionError ()
Eigen::Matrix3d	getOrientationError ()
Matrix6d	getPoseError ()
base::Pose	getPoseDeltaSample ()
base::Pose2D	getPoseDeltaSample2D ()
Public Member Functions inherited from odometry::Gaussian3D
virtual	~Gaussian3D ()
base::Matrix6d	getPoseError ()
Public Member Functions inherited from odometry::Sampling3D
virtual	~Sampling3D ()
Public Member Functions inherited from odometry::Sampling2D
virtual	~Sampling2D ()

Public Attributes
Eigen::Quaterniond	orientation
Eigen::Quaterniond	prevOrientation
State< BodyContactState >	state

Constructor & Destructor Documentation

FootContact()

FootContact::FootContact

(

const Configuration &

config

)

~FootContact()

FootContact::~FootContact ( )

virtual

Member Function Documentation

getOrientationError()

Eigen::Matrix3d FootContact::getOrientationError ( )

virtual

returns the covariance matrix of the orientation error as an axis angle vector on a manifold.

Implements odometry::Gaussian3D.

getPoseDelta()

base::Pose FootContact::getPoseDelta ( )

virtual

return the pose delta in the body fixed frame of the previous state.

Implements odometry::Gaussian3D.

getPoseDeltaSample()

base::Pose FootContact::getPoseDeltaSample ( )

virtual

Implements odometry::Sampling3D.

getPoseDeltaSample2D()

base::Pose2D FootContact::getPoseDeltaSample2D ( )

virtual

Implements odometry::Sampling2D.

getPoseError()

Matrix6d FootContact::getPoseError

(

)

getPositionError()

Eigen::Matrix3d FootContact::getPositionError ( )

virtual

this function will return the transformation from the frame that is spanned up the points p1, p2 and p3 to the global frame. p1 is the origin of the frame and p1-p2 the x axis. further, p3 will be on the plane spanned up the the x and y axis of the frame.

Implements odometry::Gaussian3D.

update()

void FootContact::update	(	const odometry::BodyContactState &	state,
		const Eigen::Quaterniond &	orientation
	)

Member Data Documentation

orientation

Eigen::Quaterniond odometry::FootContact::orientation

prevOrientation

Eigen::Quaterniond odometry::FootContact::prevOrientation

state

State<BodyContactState> odometry::FootContact::state

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The documentation for this class was generated from the following files:

• /build/rock-master-18.09-slam-odometry-0.20170815/src/ContactOdometry.hpp
• /build/rock-master-18.09-slam-odometry-0.20170815/src/ContactOdometry.cpp